A Brooklyn teen and two pals learning the rules of the road were killed while taking a driving lesson upstate, authorities said.

Antonio Baglivo, 16, and the other teens were taking a driver’s education class Tuesday when their car was slammed by a tractor-trailer on County Route 1A in Edenville, according to reports.

Antonio BaglivoFacebook

“He was just full of life … it’s devastated the family. We’re at a loss,” the boy’s grief-stricken uncle, John Fixser, told The Post. “He should be here with us enjoying the summer.”

Fixsen and his wife, Barbara, have been caring for Baglivo for the past three years, though his mom also spends a lot of time with the family, the uncle said. His dad still lives in Brooklyn.

“Tony was all about the underdog,” Fixsen said. “He was more like a brother to my kids than a cousin. He always made people laugh in skits. He was a great kid, great heart.”

Baglivo, who was to start his junior year at Goshen High next year, was ecstatic to make the varsity football team.

“He was a big football fan — he loved all teams,” the uncle said. “He was a typical 16-year-old … into girls, video games.”

Fixser said the boy’s parents sought a safer environment for their son upstate “to give him a better way of life.”

“He was happy here,” he said, choking with grief.

Hundreds who gathered for a candlelight vigil Wednesday night for fellow Goshen High students Baglivo and Paul VanDoran found out that Lucas O’Connor also died of his injuries.

The three were with an instructor from Decat Driving School of Middletown, NY, with a fourth student, Claudia Krebs, at the wheel when the accident occurred, The Times Record-Herald reported.

Krebs was treated at Westchester Medical Center in Valhalla and released, the paper reported.

“I realize that this is an extremely difficult time for everyone in the Goshen community. Our hearts, thoughts and prayers go out to the families and friends of the students involved in this tragedy,” Goshen schools chief Daniel Connor wrote on the district’s website.